Distributed k -Winner-Take-All Network Under Weight-Unbalanced Topology
Siqi Liang, Long Mei Jin · IEEE Transactions on Circuits & Systems II Express Briefs · 2023
This brief investigates a distributed$k$-winner-take-all$(k$WTA) network that effectively eliminates the lagging error problem. On this basis, a special case that the communication topology of robots is weight-unbalanced in the distributed$k$WTA problem is considered for the first time. Then a distributed weight-unbalanced$k$WTA (DWU-$k$WTA) model is proposed with the aid of a consensus estimator. Theoretical analyses substantiate the usability and exponential convergence of the proposed DWU-$k$WTA model in encountering directed weight-unbalanced graphs. A simulation based on a multi-robot system further verifies the feasibility of the proposed model in dealing with dynamic task allocation problems.